ArSickLogger.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARSICKLOGGER_H
#define ARSICKLOGGER_H

#include <stdio.h>

#include "ariaUtil.h"
#include "ArFunctor.h"

class ArSick;
class ArRobot;
class ArJoyHandler;
class ArRobotJoyHandler;
class ArRobotPacket;


class ArSickLogger
{
public:
  AREXPORT ArSickLogger(ArRobot *robot, ArSick *sick, double distDiff, 
            double degDiff, const char *fileName, 
            bool addGoals = false, 
            ArJoyHandler *joyHandler = NULL,
            const char *baseDirectory = NULL,
            bool useReflectorValues = false,
            ArRobotJoyHandler *robotJoyHandler = NULL);
  AREXPORT virtual ~ArSickLogger();
#ifndef SWIG

  AREXPORT void addTagToLog(const char *str, ...);
#endif

  AREXPORT void addTagToLogPlain(const char *str);
#ifndef SWIG

  AREXPORT void addInfoToLog(const char *str, ...);
#endif

  AREXPORT void addInfoToLogPlain(const char *str);
  void setDistDiff(double distDiff) { myDistDiff = ArMath::fabs(distDiff); }
  double getDistDiff(void) { return myDistDiff; }
  void setDegDiff(double degDiff) { myDistDiff = ArMath::fabs(degDiff); }
  double getDegDiff(void) { return myDegDiff; }
  void takeReading(void) { myTakeReadingExplicit = true; }
  void addGoal(void) { myAddGoalExplicit = true; }
  bool wasFileOpenedSuccessfully(void) 
    { if (myFile != NULL) return true; else return false; }
  bool takingOldReadings(void) { return myOldReadings; }
  void takeOldReadings(bool takeOld) { myOldReadings = takeOld; }
  bool takingNewReadings(void) { return myNewReadings; }
  void takeNewReadings(bool takeNew) { myNewReadings = takeNew; }
  AREXPORT void robotTask(void);

protected:
  // what type of readings we are taking
  bool myOldReadings;
  // what type of readings we are taking
  bool myNewReadings;
  // if we're taking reflector values too
  bool myUseReflectorValues;
  // internal function that adds goals if needed (and specified)
  void internalAddGoal(void);
  // internal function that writes tags
  void internalWriteTags(void);
  // internal function that takes a reading
  void internalTakeReading(void);
  // internal function that prints the position
  void internalPrintPos(ArPose poseTaken);
  // internal packet for handling the loop packets
  AREXPORT bool loopPacketHandler(ArRobotPacket *packet);
  std::list<std::string> myTags;
  std::list<std::string> myInfos;
  bool myWrote;
  ArRobot *myRobot;
  ArSick *mySick;
  bool myAddGoals;
  ArJoyHandler *myJoyHandler;
  ArRobotJoyHandler *myRobotJoyHandler;
  std::string myFileName;
  std::string myBaseDirectory;
  FILE *myFile;
  bool myFirstTaken;
  ArPose myLast;
  double myLastVel;
  double myDistDiff;
  double myDegDiff;
  ArSectors mySectors;
  ArFunctorC<ArSickLogger> myTaskCB;
  int myScanNumber;
  ArTime myStartTime;
  bool myTakeReadingExplicit;
  bool myAddGoalExplicit;
  bool myAddGoalKeyboard;
  bool myLastAddGoalKeyboard;
  bool myLastJoyButton;
  bool myLastRobotJoyButton;
  bool myFirstGoalTaken;
  int myNumGoal;
  ArPose myLastGoalTakenPose;
  ArTime myLastGoalTakenTime;
  void goalKeyCallback(void);
  unsigned char myLastLoops;
  ArFunctorC<ArSickLogger> myGoalKeyCB;
  ArRetFunctor1C<bool, ArSickLogger, ArRobotPacket *> myLoopPacketHandlerCB;
};

#endif // ARSICKLOGGER_H

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